Lithographic apparatus

ABSTRACT

A lithographic apparatus having a substrate table, a projection system, an encoder system, a measurement frame and a measurement system. The substrate table has a holding surface for holding a substrate. The projection system is for projecting an image on the substrate. The encoder system is for providing a signal representative of a position of the substrate table. The measurement system is for measuring a property of the lithographic apparatus. The holding surface is along a plane. The projection system is at a first side of the plane. The measurement frame is arranged to support at least part of the encoder system and at least part of the measurement system at a second side of the plane different from the first side.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is the U.S. national phase entry of PCT patentapplication no. PCT/EP2017/059383, which was filed on Apr. 20, 2017,which claims benefit of priority of European patent application no.16171338.3, which was filed on May 25, 2016, and which is incorporatedherein in its entirety by reference.

FIELD OF THE INVENTION

The present invention relates to a lithographic apparatus.

BACKGROUND ART

A lithographic apparatus is a machine that applies a desired patternonto a substrate, usually onto a target portion of the substrate. Alithographic apparatus can be used, for example, in the manufacture ofintegrated circuits (ICs). In that instance, a patterning device, whichis alternatively referred to as a mask or a reticle, may be used togenerate a circuit pattern to be formed on an individual layer of theIC. This pattern can be transferred onto a target portion (e.g.comprising part of, one, or several dies) on a substrate (e.g. a siliconwafer). Transfer of the pattern is typically via imaging onto a layer ofradiation-sensitive material (resist) provided on the substrate. Ingeneral, a single substrate will contain a network of adjacent targetportions that are successively patterned. Known lithographic apparatusinclude so-called steppers, in which each target portion is irradiatedby exposing an entire pattern onto the target portion at one time, andso-called scanners, in which each target portion is irradiated byscanning the pattern through a radiation beam in a given direction (the“scanning”-direction) while synchronously scanning the substrateparallel or anti-parallel to this direction. It is also possible totransfer the pattern from the patterning device to the substrate byimprinting the pattern onto the substrate.

A known lithographic apparatus is disclosed in United States patentapplication no. US2014/0132940A1, hereby incorporated by reference. Theknown lithographic apparatus has a plurality of measurement systems thatare needed to expose an image accurately on the substrate W. Forexample, the known lithographic apparatus has a top side encoder system,a back-side encoder system, an exposure coordinate setting measurementsystem and an alignment detection system coupled to a main controller todrive the wafer table.

SUMMARY OF THE INVENTION

To accurately position the substrate W relative to the projectionsystem, the plurality of measurement systems need to be coupled to eachother, for example coupled to each other via a common reference.However, because some measurement systems of the known lithographicsystem are above the substrate W, some are below the substrate W andsome are substantially in-plane with the substrate W, the measurementsystems are not coupled ideally. A shift between some of the pluralityof measurement systems may occur, resulting in less accurate positioningof the substrate W.

It is an objective of the invention to provide a lithographic apparatuswith an improved measurement system.

According to an aspect of the invention, there is provided alithographic apparatus comprising

-   -   a substrate holder having a holding surface for holding a        substrate;    -   a projection system for projecting an image on the substrate;    -   an encoder system for providing a signal representative of a        position of the substrate holder;    -   a measurement frame;    -   a measurement system for measuring a property of the        lithographic apparatus,    -   wherein the holding surface is along a plane,    -   wherein the projection system is at a first side of the plane,    -   wherein the measurement frame is arranged to support at least        part of the encoder system and at least part of the measurement        system at a second side of the plane different from the first        side.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the invention will now be described, by way of exampleonly, with reference to the accompanying schematic drawings in whichcorresponding reference symbols indicate corresponding parts, and inwhich:

FIG. 1 depicts a lithographic apparatus according to an embodiment ofthe invention;

FIG. 2 depicts a first embodiment of the invention.

FIG. 3 depicts a second embodiment of the invention.

FIG. 4 depicts a third embodiment of the invention.

FIG. 5 depicts a fourth embodiment of the invention.

DETAILED DESCRIPTION

FIG. 1 schematically depicts a lithographic apparatus according to oneembodiment of the invention. The apparatus comprises an illuminationsystem IL, a support structure MT, a substrate table WT and a projectionsystem PS.

The illumination system IL is configured to condition a radiation beamB. The support structure MT (e.g. a mask table) is constructed tosupport a patterning device MA (e.g. a mask) and connected to a firstpositioner PM configured to accurately position the patterning device inaccordance with certain parameters. The substrate table WT (e.g. a wafertable) is constructed to hold a substrate W (e.g. a resist-coated wafer)W and connected to a second positioner PW configured to accuratelyposition the substrate in accordance with certain parameters. Theprojection system PS is configured to project a pattern imparted to theradiation beam B by patterning device MA onto a target portion C (e.g.comprising one or more dies) of the substrate W.

The illumination system IL may include various types of opticalcomponents, such as refractive, reflective, magnetic, electromagnetic,electrostatic or other types of optical components, or any combinationthereof, for directing, shaping, or controlling radiation.

The term “radiation beam” used herein encompass all types ofelectromagnetic radiation, including ultraviolet (UV) radiation (e.g.having a wavelength of or about 365, 355, 248, 193, 157 or 126 nm) andextreme ultra-violet (EUV) radiation (e.g. having a wavelength in therange of 5-20 nm), as well as particle beams, such as ion beams orelectron beams.

The support structure MT supports, i.e. bears the weight of, thepatterning device MA. The support structure MT holds the patterningdevice MA in a manner that depends on the orientation of the patterningdevice MA, the design of the lithographic apparatus, and otherconditions, such as for example whether or not the patterning device MAis held in a vacuum environment. The support structure MT can usemechanical, vacuum, electrostatic or other clamping techniques to holdthe patterning device MA. The support structure MT may be a frame or atable, for example, which may be fixed or movable as required. Thesupport structure MT may ensure that the patterning device MA is at adesired position, for example with respect to the projection system PS.

The term “patterning device” used herein should be broadly interpretedas referring to any device that can be used to impart a radiation beam Bwith a pattern in its cross-section such as to create a pattern in atarget portion C of the substrate W. It should be noted that the patternimparted to the radiation beam B may not exactly correspond to thedesired pattern in the target portion C of the substrate W, for exampleif the pattern includes phase-shifting features or so called assistfeatures. Generally, the pattern imparted to the radiation beam willcorrespond to a particular functional layer in a device being created inthe target portion C, such as an integrated circuit.

The patterning device MA may be transmissive or reflective. Examples ofpatterning devices include masks, programmable mirror arrays, andprogrammable LCD panels. Masks are well known in lithography, andinclude mask types such as binary, alternating phase-shift, andattenuated phase-shift, as well as various hybrid mask types. An exampleof a programmable mirror array employs a matrix arrangement of smallmirrors, each of which can be individually tilted so as to reflect anincoming radiation beam B in different directions. The tilted mirrorsimpart a pattern in a radiation beam B which is reflected by the mirrormatrix.

The term “projection system” used herein should be broadly interpretedas encompassing any type of projection system, including refractive,reflective, catadioptric, magnetic, electromagnetic and electrostaticoptical systems, or any combination thereof, as appropriate for theexposure radiation being used, or for other factors such as the use ofan immersion liquid or the use of a vacuum.

As here depicted, the apparatus is of a transmissive type (e.g.employing a transmissive mask). Alternatively, the apparatus may be of areflective type (e.g. employing a programmable mirror array of a type asreferred to above, or employing a reflective mask).

The lithographic apparatus may be of a type having two (dual stage) ormore substrate tables WT (and/or two or more mask tables). In such“multiple stage” machines the additional tables may be used in parallel,or preparatory steps may be carried out on one or more tables while oneor more other tables are being used for exposure. In addition to one ormore substrate tables WT, the lithographic apparatus may have ameasurement stage that is arranged to be at a position beneath theprojection system PS when the substrate table WT is away from thatposition. Instead of supporting a substrate W, the measurement stage maybe provided with sensors to measure properties of the lithographicapparatus. For example, the projection system may project an image on asensor on the measurement stage to determine an image quality.

The lithographic apparatus may also be of a type wherein at least aportion of the substrate W may be covered by a liquid having arelatively high refractive index, e.g. water, so as to fill a spacebetween the projection system and the substrate. An immersion liquid mayalso be applied to other spaces in the lithographic apparatus, forexample, between the patterning device MA and the projection system PS.Immersion techniques are well known in the art for increasing thenumerical aperture of projection systems. The term “immersion” as usedherein does not mean that a structure, such as a substrate W, must besubmerged in liquid, but rather only means that liquid is locatedbetween the projection system PS and the substrate W during exposure.

Referring to FIG. 1, the illumination system IL receives a radiationbeam B from a radiation source SO. The radiation source SO and thelithographic apparatus may be separate entities, for example when theradiation source SO is an excimer laser. In such cases, the source isnot considered to form part of the lithographic apparatus and theradiation beam B is passed from the radiation source SO to theillumination system IL with the aid of a beam delivery system BDcomprising, for example, suitable directing mirrors and/or a beamexpander. In other cases the radiation source SO may be an integral partof the lithographic apparatus, for example when the radiation source SOis a mercury lamp. The radiation source SO and the illuminator IL,together with the beam delivery system BD if required, may be referredto as a radiation system.

The illumination system IL may comprise an adjuster AD for adjusting theangular intensity distribution of the radiation beam B. Generally, atleast the outer and/or inner radial extent (commonly referred to asσ-outer and σ-inner, respectively) of the intensity distribution in apupil plane of the illumination system can be adjusted. In addition, theillumination system IL may comprise various other components, such as anintegrator IN and a condenser CO. The illumination system IL may be usedto condition the radiation beam B, to have a desired uniformity andintensity distribution in its cross-section.

The radiation beam B is incident on the patterning device MT, which isheld on the support structure MT, and is patterned by the patterningdevice MA. Having traversed the patterning device MA, the radiation beamB passes through the projection system PS, which focuses the beam onto atarget portion C of the substrate W. With the aid of the secondpositioner PW and position sensor IF (e.g. an interferometric device,linear encoder or capacitive sensor), the substrate table WT can bemoved accurately, e.g. so as to position different target portions C inthe path of the radiation beam B. Similarly, the first positioner PM andanother position sensor (which is not explicitly depicted in FIG. 1) canbe used to accurately position the patterning device MA with respect tothe path of the radiation beam B, e.g. after mechanical retrieval from amask library, or during a scan.

The first positioner PM may comprise a long-stroke module and ashort-stroke module. The short-stroke module is arranged to move thesupport structure MT relative to the long-stroke module with a highaccuracy over a small range of movement. The long-stroke module isarranged to move the short-stroke module relative to the projectionsystem PS with a relatively low accuracy over a large range of movement.With the combination of the long-stroke module and the short-strokemodule, the first positioner PM is able to move the support structure MTrelative to the projection system PS with a high accuracy over a largerange of movement. Similarly, the second positioner PW may comprise along-stroke module and a short-stroke module. The short-stroke module isarranged to move the substrate support WT relative to the long-strokemodule with a high accuracy over a small range of movement. Thelong-stroke module is arranged to move the short-stroke module relativeto the projection system PS with a relatively low accuracy over a largerange of movement. With the combination of the long-stroke module andthe short-stroke module, the second positioner PW is able to move thesubstrate support WT relative to the projection system PS with a highaccuracy over a large range of movement. In the case of a stepper (asopposed to a scanner) the support structure MT may be connected to ashort-stroke actuator only, or may be fixed.

Patterning device MA and substrate W may be aligned using mask alignmentmarks M1, M2 and substrate alignment marks P1, P2. Although thesubstrate alignment marks P1, P2 as illustrated occupy dedicated targetportions, they may be located in spaces between target portions C (theseare known as scribe-lane alignment marks). Similarly, in situations inwhich more than one die is provided on the patterning device MA, themask alignment marks M1, M2 may be located between the dies.

The depicted apparatus could be used in at least one of the followingmodes:

In a first mode, the so-called step mode, the support structure MT andthe substrate table WT are kept essentially stationary, while an entirepattern imparted to the radiation beam B is projected onto a targetportion C at one time (i.e. a single static exposure). The substratetable WT is then shifted in the X and/or Y direction so that a differenttarget portion C can be exposed. In step mode, the maximum size of theexposure field limits the size of the target portion C imaged in asingle static exposure.

In a second mode, the so-called scan mode, the support structure MT andthe substrate table WT are scanned synchronously while a patternimparted to the radiation beam B is projected onto a target portion C(i.e. a single dynamic exposure). The velocity and direction of thesubstrate table WT relative to the support structure MT may bedetermined by the (de-)magnification and image reversal characteristicsof the projection system PS. In scan mode, the maximum size of theexposure field limits the width (in the non-scanning direction) of thetarget portion in a single dynamic exposure, whereas the length of thescanning motion determines the height (in the scanning direction) of thetarget portion.

In a third mode, the support structure MT is kept essentially stationaryholding a programmable patterning device, and the substrate table WT ismoved or scanned while a pattern imparted to the radiation beam B isprojected onto a target portion C. In this mode, generally a pulsedradiation source is employed and the programmable patterning device isupdated as required after each movement of the substrate table WT or inbetween successive radiation pulses during a scan. This mode ofoperation can be readily applied to maskless lithography that utilizesprogrammable patterning device, such as a programmable mirror array of atype as referred to above.

Combinations and/or variations on the above described modes of use orentirely different modes of use may also be employed.

FIG. 2 depicts a first embodiment of the invention. FIG. 2 depicts thelithographic apparatus comprising the substrate table WT, the projectionsystem PS, an encoder system 210, a measurement frame 220 and ameasurement system 230.

The substrate table WT has a holding surface 200 for holding thesubstrate W. The projection system PS is arranged to project an image onthe substrate W. The encoder system 210 is arranged for providing asignal representative of a position of the substrate table WT. Themeasurement system 230 is arranged for measuring a property of thelithographic apparatus. The holding surface 200 is along a plane 240.The projection system PS is at a first side 250 a of the plane 240. Themeasurement frame 220 is arranged to support at least part of theencoder system 210 and at least part of the measurement system 230 at asecond side 250 b of the plane 240. The second side 250 b is differentfrom the first side 250 a.

The holding surface 200 may be at a top surface of the substrate tableWT, for example as indicated in FIG. 2. Alternatively, the holdingsurface 200 may be in a recess of the substrate table WT. The depth ofthe recess may be substantially the same as the thickness of thesubstrate W, such that when the substrate W is on the holding surface200, the top surface of the substrate W is in the same plane as the topsurface of the substrate table WT. The holding surface 200 may be asingle surface or may comprise multiple surfaces. The holding surface200 may be formed by the end surfaces of a plurality protrusionsextending in a direction from the second side 250 b toward the firstside 250 a. The protrusions may be referred to as pins or burls. Theholding surface 200 is along the plane 240, which is in this embodimentin the horizontal xy-plane.

The encoder system 210 comprises an encoder head 210 a and a scale 210b. The encoder head 210 a is supported by the measurement frame 220. Thescale 210 b is supported by the substrate table WT. The scale 210 b isprovided with a grating pattern. The encoder head 210 a cooperates withthe scale 210 b to provide a signal representative of a position of thescale 210 b relative to the encoder head 210 a. The encoder head 210 amay provide a signal representative of a position in one degree offreedom or the encoder head 210 a may provide multiple signalsrepresentative of positions in multiple degrees of freedom. For example,the encoder head 210 a may provide signals for 6 degrees of freedom. Theencoder head 210 a may provide more than 6 signals needed for 6 degreesof freedom, for example 8 or 10 signals, to provide redundantmeasurement information. The redundant measurement information may beused to determine a deformation, e.g., a bending, of the substrate tableWT. The encoder head 210 a may be implemented as a single unit or may beimplemented as a plurality of units located near each other.Alternatively, the encoder head 210 a is supported by the substratetable WT, and the scale 210 b is supported by the measurement frame 220.

The measurement frame 220 is arranged to support the encoder head 210 aand the measurement system 230. The measurement frame 220 may comprise alow-expansion material with a coefficient of thermal expansion, CTE,that is lower than for example steel or aluminum. Such a low-expansionmaterial may be Zerodur or Cordirite or Invar. The measurement frame 220may be connected to or may be part of a reference frame. The referenceframe may be arranged to support the projection system PS. A position ofthe projection system PS may be determined relative to the referenceframe.

The projection system PS is at the first side 250 a of the plane 240.The measurement frame 220 supports the encoder head 210 a and themeasurement system 230 at the second side 250 b of the plane 240. Inthis embodiment, the projection system PS is located above the holdingsurface 200, and the measurement frame 220 supports the encoder head 210a and the measurement system 230 below the support surface 200.

The measurement system 230 may comprise a detector 230 a arranged on themeasurement frame 220. The detector 230 a may be arranged to receive aradiation beam 260. The detector 230 a may comprise a camera, forexample, to detect an image created by the radiation beam 260.

In the embodiment of FIG. 2, the lithographic apparatus comprises a mark270. The projection system PS is arranged to provide the radiation beam260 via the mark 270 onto the detector 230 a.

The support structure MT is arranged to support the patterning deviceMA. The patterning device MA is provided with a patterning mark 280.Alternatively or in addition, the support structure MT is provided withthe patterning mark 280. The projection system PS is arranged to projectan image based on the patterning mark 280 onto the mark 270. Themeasurement system 230 may be arranged to determine a position of themark 270 relative to the patterning mark 280. The position of the mark270 relative to the patterning mark 280 may be determined by the imagethat is incident on the detector 230 a. The position of the mark 270relative to the patterning mark 280 may be determined by an interferencepattern caused by the mark 270 and the patterning mark 280. For example,the substrate table WT may be moved during use of the measurement system230 to find a position of the substrate table WT at which theinterference pattern causes a maximum intensity on the detector 230 a.Alternatively, the support structure MT is moved and/or a position witha minimum intensity is determined.

The property of the lithographic apparatus to be measured with themeasurement system 230 may be an image quality of the projection systemPS. The projection system PS provides the radiation beam 260 via themark 270 onto the detector 230 a. The image quality may be determined bythe image of the mark 270 that is projected onto the detector 230 a. Theimage quality may be determined by an interference pattern that isincident on the detector 230 a. The image quality may include anaberration of the projection system PS, and/or an intensity of theradiation beam 260, and/or a distribution of radiation along across-section of the radiation beam 260. The image quality may be aposition of the focal point of the projection system PS.

In the embodiment of FIG. 2, the mark 270 is arranged on the substratetable WT. The substrate table WT may be provided with an optical system290. The optical system 290 is arranged to propagate the radiation beam260 at least partly in a direction along the plane 240. The opticalsystem 290 may be arranged to propagate the radiation beam 260 at leastpartly in a direction parallel to the plane 240 To have an accurateposition measurement of the substrate table WT during the exposure ofthe substrate W, the encoder head 210 a may be arranged along theoptical axis of the projection system PS. The projection system PSprojects an image along the optical axis. Since the encoder head 210 ais located on the measurement frame 220 at the optical axis, there maynot be enough space to also provide the measurement system 230 at theoptical axis. By providing the optical system 290, the image provided bythe projection system PS at the optical axis to directed away from theoptical axis. This allows the measurement system 230 to receive theradiation beam 260 away from the optical axis. The optical system 290may by any type of suitable optical system and may comprise any type ofsuitable optical components such as mirrors, lenses and/or opticalfilters. The optical system 290 may comprise fluorescent material tochange the wavelength of the radiation beam 260. By changing thewavelength, the detector 230 a suitable for radiation other thanexposure radiation may be used. The optical system 290 may comprise apolarizer to change the polarization of the radiation beam 260. Theoptical system 290 may comprise an optical fiber, such as a glass-fiber,to propagate the radiation beam 260. The optical system 290 may alsodirect the radiation beam 260 in a vertical direction.

FIG. 3 depicts a second embodiment of the invention. The same referencesrefer to the same elements of the embodiment of FIG. 2, except for whatis stated below. FIG. 3 depicts a further stage 300. The further stage300 is arranged to be at the projection system PS when the substratetable WT is away from the projection system PS. The mark 270 is arrangedon the further stage 300. Whereas the substrate table WT is arranged tohold the substrate W, the further stage 300 may not be arranged to holdthe substrate W. Instead, the further stage 300 may be arranged to holdat least one sensor and/or a part of at least one sensor.

As disclosed above, the projection system PS may direct the radiationbeam 260 via the mark 270 onto the detector 230 a. The further stage 300may be provided with the optical system 290 or may not be provided withthe optical system 290. The further stage 300 may hold a further scale310 b to cooperate with the encoder head 210 a, similarly as the scale210 b cooperates with the encoder head 210 a. Alternatively, the furtherstage 300 is not provided with the scale 310 b.

Similar to what is described above, the measurement system 230 isarranged to measure a property of the lithographic apparatus, such as aposition of the mark 270 on the further stage 300 relative to thedetector 230 a and/or an image quality of the projection system PS.

In an embodiment, the lithographic apparatus is provided with a liquidsupply system to provide the immersion liquid, so as to fill a spacebetween the projection system PS and the substrate W during exposure ofthe substrate W. When the exposure of the substrate W is completed, anew substrate W is to be loaded onto the substrate table WT. For loadingthe new substrate W, the substrate table WT is moved away from theprojection system PS. To contain the immersion liquid in the space, thefurther stage 300 replaces the substrate W beneath the projectionsystem, so the liquid fills a space between the projection system PS andthe further stage 300.

In an embodiment, the mark 270 is on the substrate table WT, and theoptical system 290 is on the further stage 300. The lithographicapparatus is arranged to direct the radiation beam 260 from theprojection system PS via the mark 270 on the substrate table WT and viathe optical system 290 on the further stage 300 to the detector 230 a.For the radiation beam 260 to propagate from the substrate table WT tothe further stage 300, the substrate table WT and the further stage 300may be positioned adjacent to each other, for example the substratetable WT and the further stage 300 are in contact with each other, orthe substrate table WT and the further stage 300 are close to eachother.

FIG. 4 depicts a third embodiment of the invention. The same referencesrefer to the same elements of the embodiments of FIGS. 2 and 3, exceptfor what is stated below. The third embodiment has a reference mark 470for providing a position reference for the encoder system. The detector230 a is arranged to receive the radiation beam 260 via the referencemark.

The encoder system 210 may be an incremental measurement system, whichmeans that the scale 210 b has a pattern with plurality of identicalperiods. Within a period, the encoder system 210 is able to ccuratelydetermine a position. However, the encoder system 210 may not be able todetermine in which period the measurement takes place. When the detector230 a receives the radiation beam 260 via the reference mark 470, themeasurement system 230 a may determine an absolute position of thereference mark 470 relative to the detector 230 a. The absolute positionmay be used as a reference or starting position for the encoder system210 to determine in which period the encoder system 210 is measuring.Since both the encoder head 210 a and the detector 230 a are supportedby the measurement frame 220, a good position relationship between theencoder head 210 a and the detector 230 a may be achieved. The goodposition relationship may improve the accuracy with which startingposition for the encoder system 210 can be determined.

In FIG. 4, the reference mark 470 is depicted as being separate from thescale 210 b, for example adjacent to the scale 210 b. In an embodiment,reference mark 470 is arranged on the scale 210 b. A pattern of thereference mark 470 may be superimposed on the pattern of the scale 210b.

FIG. 5 depicts a fourth embodiment of the invention. The same referencesrefer to the same elements of the embodiments of FIGS. 2, 3 and 4,except for what is stated below. In the embodiment of FIG. 5, thesubstrate W is provided with a substrate mark 570. The substrate mark570 is provided on a surface of the substrate W that is in contact withthe holding surface 200. The substrate mark 570 is provided on thesurface of the substrate W opposite to the surface on which the IC's areto be formed. The detector 230 a is arranged to receive the radiationbeam 260 via the substrate mark 570. The measurement system 230 isarranged to determine a position of the substrate mark 570 relative to aposition of the detector 230 a. In this embodiment, a direct positionalrelationship between the substrate W and the measurement system 230 canbe determined. For example, the position of the substrate mark 570 mayact as the reference for the encoder system 210. Having the substratemark 570 as the reference may have the benefit that in case thesubstrate W is placed onto the holding surface 200 with an offset in thexy-plane, the offset does not have a negative effect on the exposureprocess. By using the substrate mark 570 as a reference, the offset maybe taken into account and be compensated. Further, having the substratemark 570 on the surface of the substrate W that contacts the holdingsurface 200 has the benefit that the substrate mark 570 is less affectedby processing the substrate W than a mark arranged on the surface of thesubstrate W on which the IC's are formed. A mark arranged on the surfaceof the substrate W on which the IC's are formed may be deformed byetching and deposition of the substrate W, whereas etching anddeposition may have a smaller influence on the surface of the substrateW that contacts the holding surface 200.

In the embodiments described above, the measurement system 230 may beprovided with a radiation source for providing the radiation beam 260.The radiation source may be arranged on the measurement frame 220. Theradiation source may be arranged at the second side 250 b of the plane240. The radiation source and the detector 230 a may be combined in asingle unit.

In the embodiments of FIGS. 2 and 3, the radiation source may providethe radiation beam 260 and direct the radiation beam 260 from theradiation source to the projection system PS, from the projection systemPS onto the patterning mark 280, and back from the patterning mark 280to the detector 230 a via the projection system PS and the mark 270. Thepatterning mark 280 may be a reflective mark. In the embodiment of FIG.2, the patterning mark 280 may be a transmissive mark.

In the embodiment of FIG. 4, the radiation source may direct theradiation beam 260 from the radiation source to the reference mark 470.The reference mark 470 may reflect the radiation beam 260 to thedetector 230 a. Alternative, the reference mark 470 is transmissive anda reflective element is provided to direct the radiation beam 260 to thedetector 230 a. In an embodiment, the scale 210 b may be reflective toreflect the radiation beam 260 to the detector 230 a.

The lithographic apparatus may comprise a control system for controllinga position of the substrate table WT based on the signal from theencoder system 210 and an output from the measurement system 230. Forexample, the control system may adjust the position of the substratetable WT as determined by the encoder system 210 to take into accountthe imaged patterning mark 280 on the mark 270. By adjusting theposition of the substrate table WT in this way, the substrate table Wmay be positioned in such a way that an image of the patterning deviceMA is projected on the correct position on the substrate W. In anotherexample, the control system may adjust the position of the substratetable WT as determined by the encoder system 210 to take into the imagequality of the projection system PS. The measurement system 230 maydetermine the focal position of the projection system PS. The controlsystem may adjust the position of the substrate table W in such a waythat the substrate W is at the focal position in order to have anin-focus image on the substrate W. Alternatively or in addition, thecontrol system may adjust the position, orientation or shape of anoptical component in the projection system to adjust the image. Forexample, the control system may adjust a flexible mirror to adjust theimage. The flexible mirror may have a plurality of actuators arranged todeform a reflective surface of the mirror.

The embodiments described above describe that the mark 270, the opticalsystem 290, the scale 210 b and the reference mark 470 may be connectedto the substrate table WT. In an embodiment, one or more of the mark270, the optical system 290, the scale 210 b and the reference mark 470may be connected to the second positioner PW. For example, the substratetable WT and part of the second positioner PW may be implemented as anintegrated unit. In another example, the mark 270 is connected to theshort-stroke module, whereas the optical system 290 is connected to thelong-stroke module.

In the embodiments described above, the measurement system 230 isarranged to cooperate with the mark 270, the patterning mark 280 and/orthe reference mark 470. The measurement system 230 may be an opticalmeasurement system. Alternatively, the measurement system 230 may beanother type of measurement system. For example, the measurement system230 may comprise a capacitive sensor or an inductive sensor supported bythe measurement frame 220 on the second side 250 b. The reference mark470 may comprise a target suitable to cooperate with the capacitivesensor or the inductive sensor, such that the sensor can provide asignal representative of a distance between the sensor and the referencemark 470. Alternatively, the measurement system 230 may comprise aninterferometer arranged to determine a distance between the referencemark 470 and the interferometer arranged on the measurement frame 220.The reference mark 470 may comprise a reflective element, such as amirror, to reflect a measurement beam from the interferometer.

To reduce vibrations of the measurement frame 220, a damper may beprovided to damp the measurement frame 220. The damper may be providednear the measurement system 230 to reduce vibrations of the measurementsystem 230. The damper may be a passive damper, such as a tuned-massdamper, or may be an active damper or may be a combination of an activeand a passive damper.

An additional measurement system may be provided to determine a distanceor a change in distance between the measurement system 230 and areference. For example, the reference may be the projection system PS.Due to vibrations or thermal expansion of the measurement frame 220, thedistance between the projection system PS and the detector 230 a mayvary. By measuring this distance, the substrate table WT may bepositioned relative to the reference, e.g., the projection system PS,more accurately. The additional measurement system may comprise aninterferometer system, for example an interferometer system having ameasurement beam propagating through the measurement frame 220. Theadditional measurement system may comprise one or more strain gauges todetect deformation of the measurement frame 220. Based on the detecteddeformation, a position of the detector 230 a may be deducted. Insteadof the projection system PS, another reference may be used, for example,a reference frame or the support structure MT or the patterning deviceMA.

The lithographic apparatus may be provided with multiple measurementframes 220. For example, two sides of the lithographic apparatusopposite to each other may each have a measurement frame 220. On one ofthe two measurement frames 220, the encoder head 210 a may be arrangedat the optical axis of the projection system PS. On the other of the twomeasurement frames 220, the encoder head 210 a may be arranged near ameasurement device. The measurement device may be an alignment device todetermine a position of the substrate alignment marks P1, P2. Themeasurement device may be a sensor to determine a height profile of thesubstrate W. The measurement device may be a sensor to determine aposition of the substrate W relative to the substrate table WT holdingthe substrate W. In an embodiment, the lithographic apparatus comprisestwo measurement devices, wherein one measurement device is closer to theprojection system PS than the other measurement device. One measurementdevice may perform a coarse measurement, whereas the other measurementdevice may perform a fine measurement. The lithographic apparatus maycomprise two substrate tables WT and one further stage 300. Thelithographic apparatus may be arranged to simultaneously have one of thetwo substrate tables WT near a first measurement device, the other ofthe two substrate tables WT at a second measurement device, and thefurther stage 300 at the projection system PS.

In an embodiment, there is provided a lithographic apparatus, comprisinga substrate table having a holding surface for holding a substrate; aprojection system for projecting an image on the substrate; an encodersystem for providing a signal representative of position of thesubstrate table; a measurement frame; a measurement system formeasurement system for measuring a property of the lithographicapparatus, wherein the holding surface is along a plane, wherein theprojection system is at a first side of the plane, and wherein themeasurement frame is arranged to support at least part of the encodersystem and at least part of the measurement system at a second side ofthe plane different from the first side.

In an embodiment, the measurement system comprises a detector arrangedon the measurement frame, wherein the detector is arranged to receive aradiation beam. In an embodiment, the lithographic apparatus comprises amark, and wherein the projection system is arranged to provide theradiation beam via the mark onto the detector. In an embodiment, thelithographic apparatus comprises a support structure for supporting apatterning device, wherein one of the support structure and thepatterning device has a patterning mark, wherein the projection systemis arranged to project an image based on the patterning mark onto themark. In an embodiment, the measurement system is arranged to determinean image quality of the projection system based on the radiation beam.In an embodiment, the mark is arranged on the substrate table. In anembodiment, the substrate table comprises an optical system arranged topropagate the radiation beam at least partly in a direction along theplane. In an embodiment, the lithographic apparatus comprises a furtherstage, wherein the further stage is arranged to be at the projectionsystem when the substrate is away from the projection system, whereinthe mark is arranged on the further stage. In an embodiment, thelithographic apparatus comprises a liquid supply system, wherein theliquid supply system is arranged to provide a liquid between theprojection system and the substrate when the substrate is at theprojection system, wherein the liquid supply system is arranged toprovide the liquid between the projection system and the further stagewhen the substrate is away from the projection system. In an embodiment,the lithographic apparatus comprises a reference mark for providing apositional reference for the encoder system, wherein the detector isarranged to receive the radiation beam via the reference mark. In anembodiment, the encoder system comprises a scale arranged on thesubstrate table, wherein the reference mark is arranged on the scale. Inan embodiment, the substrate has a surface provided with a substratemark, wherein the detector is arranged to receive the radiation beam viathe substrate mark. In embodiment, the measurement system is arranged todetermine a position of the substrate mark relative to a position of themark. In an embodiment, the measurement system comprises a radiationsource for providing the radiation beam, wherein the radiation source isarranged on the measurement frame. In an embodiment, the lithographicapparatus comprises a control system for controlling a position of thesubstrate table based on the signal and on an output from themeasurement system.

Although specific reference may be made in this text to the use oflithographic apparatus in the manufacture of ICs, it should beunderstood that the lithographic apparatus described herein may haveother applications, such as the manufacture of integrated opticalsystems, guidance and detection patterns for magnetic domain memories,flat-panel displays, liquid-crystal displays (LCDs), thin-film magneticheads, etc. The skilled artisan will appreciate that, in the context ofsuch alternative applications, any use of the terms “wafer” or “die”herein may be considered as synonymous with the more general terms“substrate” or “target portion”, respectively. The substrate referred toherein may be processed, before or after exposure, in for example atrack (a tool that typically applies a layer of resist to a substrateand develops the exposed resist), a metrology tool and/or an inspectiontool. Where applicable, the disclosure herein may be applied to such andother substrate processing tools. Further, the substrate may beprocessed more than once, for example in order to create a multi-layerIC, so that the term substrate used herein may also refer to a substratethat already contains multiple processed layers.

Although specific reference may have been made above to the use ofembodiments of the invention in the context of optical lithography, itwill be appreciated that the invention may be used in otherapplications, for example imprint lithography, and where the contextallows, is not limited to optical lithography. In imprint lithography atopography in a patterning device defines the pattern created on asubstrate. The topography of the patterning device may be pressed into alayer of resist supplied to the substrate whereupon the resist is curedby applying electromagnetic radiation, heat, pressure or a combinationthereof. The patterning device is moved out of the resist leaving apattern in it after the resist is cured.

The descriptions above are intended to be illustrative, not limiting.Thus, it will be apparent to one skilled in the art that modificationsmay be made to the invention as described without departing from thescope of the claims set out below.

What is claimed:
 1. A lithographic apparatus, comprising: a substratetable having a holding surface for holding a substrate, the holdingsurface being along a plane; a projection system configured to projectan image on the substrate, the projection system being at a first sideof the plane; an encoder system configured to provide a signalrepresentative of a position of the substrate table; a measurement frameattached to the projection system; and a measurement system configuredto measure a property of the lithographic apparatus, wherein themeasurement frame is arranged to support at least part of the encodersystem and at least part of the measurement system at a second side ofthe plane different from the first side, and wherein the measurementsystem is arranged to cooperate with a mark and comprises a detectorconfigured to receive a radiation beam via the mark.
 2. The lithographicapparatus of claim 1, wherein the projection system is arranged toprovide the radiation beam via the mark onto the detector.
 3. Thelithographic apparatus of claim 2, comprising a support structureconfigured to support a patterning device, wherein the support structureor the patterning device has a patterning mark, and wherein theprojection system is arranged to project an image based on thepatterning mark onto the mark.
 4. The lithographic apparatus of claim 2,wherein the measurement system is arranged to determine an image qualityof the projection system based on the radiation beam.
 5. Thelithographic apparatus of claim 1, wherein the mark is arranged on thesubstrate table.
 6. The lithographic apparatus of claim 5, wherein thesubstrate table comprises an optical system arranged to propagate theradiation beam at least partly in a direction along the plane.
 7. Thelithographic apparatus of claim 1, comprising a further stage, whereinthe further stage is arranged to be at the projection system when thesubstrate is away from the projection system, and wherein the mark isarranged on the further stage.
 8. The lithographic apparatus of claim 7,comprising a liquid supply system arranged to provide a liquid betweenthe projection system and the substrate when the substrate is at theprojection system, wherein the liquid supply system is arranged toprovide the liquid between the projection system and the further stagewhen the substrate is away from the projection system.
 9. Thelithographic apparatus of claim 1, comprising a reference mark forproviding a positional reference for the encoder system, wherein thedetector is arranged to receive the radiation beam via the referencemark.
 10. The lithographic apparatus of claim 9, wherein the encodersystem comprises a scale arranged on the substrate table, and whereinthe reference mark is arranged on the scale.
 11. The lithographicapparatus of claim 1, wherein the substrate has a surface provided witha substrate mark, and wherein the detector is arranged to receive theradiation beam via the substrate mark.
 12. The lithographic apparatus ofclaim 11, wherein the measurement system is arranged to determine aposition of the substrate mark relative to a position of the mark. 13.The lithographic apparatus of claim 1, wherein the measurement systemcomprises a radiation source configured to provide the radiation beam,and the radiation source is arranged on the measurement frame.
 14. Thelithographic apparatus of claim 1, comprising a control systemconfigured to control a position of the substrate table based on thesignal and on an output from the measurement system.
 15. A methodcomprising: holding a substrate on a holding surface of a substratetable, the holding surface being along a plane; projecting a pattern onthe substrate using a projection system, the projection system being ata first side of the plane; using an encoder system to provide a signalrepresentative of a position of the substrate table; and measuring aproperty of the lithographic apparatus using a measurement system, themeasurement system cooperating with a mark and receiving radiation viamark to a detector of the measurement system, wherein a measurementframe supports at least part of the encoder system and at least part ofthe measurement system at a second side of the plane different from thefirst side and wherein the measurement frame is attached to theprojection system.
 16. The method of claim 15, comprising the projectionsystem providing the radiation via the mark onto the detector.
 17. Themethod of claim 15, wherein the mark is arranged on the substrate table.18. The method of claim 15, wherein the mark is arranged on a furtherstage and comprising arranging the further stage to be at the projectionsystem when the substrate is away from the projection system.
 19. Themethod of claim 15, further comprising using the detector to receiveradiation via a reference mark for providing a positional reference forthe encoder system.
 20. The method of claim 15, wherein the substratehas a surface provided with a substrate mark, and further comprisingusing the detector to receive radiation via the substrate mark.